Techman Robot TM Palletizing Operator, User Manual

Page: 136 / 185

TM Palletizing Operator User’s Manual Product Version: 1.1 Document Version: 1.2 136
Parameter Description
Controller
Use the controller to teach the corresponding posture
the robot before stacking or lifting the pillar up and
down.
Robot Initial Pose(Robot Base)
The posture of the robot before stacking or lifting the
pillar up and down.
Motion Setting
Set the motion of Elevated Height to Via Point Offset
and Via Point Offset to Placement Vector to PTP or
Line . (PTP recommended)
Box Position (A) The robot position of gripping box.
Elevated Height (B)
The elevated height along Z-axis after the robot grips
the box.
Via Point Offset (C) Position relative to the Gripping Up point
Placement
Vector
Box Approaching Vector X, Y, Z (D) Placement Vector
Elevated Height Before Placing (E)
Pillar
Left/Right Pillar Layer
(Z-direction height is considered as a
layer)
Pillar
Floor Distance Compensation
Safety Distance (
㎜
)
When the distance between the robot and other
detected objects is less than this parameter value, it
would be notified as collision.
Table 27: Parameter Descriptions
Validate
User can detect the potential errors such as unreachable points and collisions in space that
might happen during stacking, unstacking, and stack changing and estimate the total time